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max_jerk array, DEFAULT_XYJERK => DEFAULT_[XY]JERK

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Scott Lahteine
2016-10-02 04:37:13 -05:00
parent 911f7e436c
commit d19cfcfc1d
54 changed files with 192 additions and 146 deletions
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44
Marlin/planner.cpp
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@@ -93,9 +93,7 @@ float Planner::min_feedrate_mm_s,
Planner::acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
Planner::travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
Planner::max_xy_jerk, // The largest speed change requiring no acceleration
Planner::max_z_jerk,
Planner::max_e_jerk,
Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration
Planner::min_travel_feedrate_mm_s;
#if HAS_ABL
@@ -1101,30 +1099,26 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk * 0.5,
vmax_junction_factor = 1.0,
mz2 = max_z_jerk * 0.5,
me2 = max_e_jerk * 0.5,
csz = current_speed[Z_AXIS],
cse = current_speed[E_AXIS];
if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float vmax_junction = max_jerk[X_AXIS] * 0.5, vmax_junction_factor = 1.0;
if (max_jerk[Y_AXIS] * 0.5 < fabs(current_speed[Y_AXIS])) NOMORE(vmax_junction, max_jerk[Y_AXIS] * 0.5);
if (max_jerk[Z_AXIS] * 0.5 < fabs(current_speed[Z_AXIS])) NOMORE(vmax_junction, max_jerk[Z_AXIS] * 0.5);
if (max_jerk[E_AXIS] * 0.5 < fabs(current_speed[E_AXIS])) NOMORE(vmax_junction, max_jerk[E_AXIS] * 0.5);
NOMORE(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float dsx = current_speed[X_AXIS] - previous_speed[X_AXIS],
dsy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
dsz = fabs(csz - previous_speed[Z_AXIS]),
dse = fabs(cse - previous_speed[E_AXIS]),
jerk = HYPOT(dsx, dsy);
if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
//if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
//}
// if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
// }
if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
if (dsz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dsz);
if (dse > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / dse);
float dsx = fabs(current_speed[X_AXIS] - previous_speed[X_AXIS]),
dsy = fabs(current_speed[Y_AXIS] - previous_speed[Y_AXIS]),
dsz = fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]),
dse = fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]);
if (dsx > max_jerk[X_AXIS]) NOMORE(vmax_junction_factor, max_jerk[X_AXIS] / dsx);
if (dsy > max_jerk[Y_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Y_AXIS] / dsy);
if (dsz > max_jerk[Z_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Z_AXIS] / dsz);
if (dse > max_jerk[E_AXIS]) NOMORE(vmax_junction_factor, max_jerk[E_AXIS] / dse);
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
@@ -1173,7 +1167,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_steps_per_s2);
float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(cse, EXTRUSION_AREA) * 256;
float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(current_speed[E_AXIS], EXTRUSION_AREA) * 256;
block->advance = advance;
block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
}